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dc.contributor.advisorPradalier, Cédric
dc.contributor.advisorDeclercq, Nico
dc.contributor.authorStarbuck, Bryan Edward
dc.date.accessioned2021-06-10T16:50:01Z
dc.date.available2021-06-10T16:50:01Z
dc.date.created2021-05
dc.date.issued2021-04-28
dc.date.submittedMay 2021
dc.identifier.urihttp://hdl.handle.net/1853/64681
dc.description.abstractA robot that can probabalistically infer its state and uncertainties while exploiting differential geometry is capable of achieving more consistent, more accurate, robust state estimation. It is being proposed that ultra-wideband, a cutting-edge technology, that is also highly unpredictable, can be used to give autonomy to a magnetic-wheeled crawler robot for the application of metal structure inspection. Thus, ultra-wideband technology is evaluated based on its sensitivity to metal surfaces at varying heights, as well as its response to varying grid sizes between receivers in experiments featuring a Turtlebot and an RTK-GPS. Then, a novel methodology for ultra-wideband grid initialization is presented featuring a simulation of a ship hull with an ultra-wideband grid. Finally, a metal structure is considered as a parallelizable manifold with a bivariate b-spline representation, and the matrix exponential correspondence between a Lie group and its Lie algebra for the Special Orthogonal Group is applied within the Extended Kalman Filter framework. These considerations constitute the Manifold Invariant Extended Kalman Filter (M-IEKF), a novel approach to more robust state estimation. The filter is derived, presented, and evaluated in comparison with a modified standard approach: the Manifold-Constrained Extended Kalman Filter (MC-EKF), which uses zero-noise virtual measurements to constrain the state estimate. Then, for a real proof of concept, an experiment using a magnetic-wheeled crawler robot with ultra-wideband localization on a surface consisting of curved metal plates is carried out giving viability to the approach in the real-world application of autonomous metal structure inspection.
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.publisherGeorgia Institute of Technology
dc.subjectUltra-wideband
dc.subjectManifolds
dc.subjectInvariance
dc.titleUltra-wideband Localization on Manifolds for Autonomous Metal Structure Inspection
dc.typeThesis
dc.description.degreeM.S.
dc.contributor.departmentMechanical Engineering
thesis.degree.levelMasters
dc.contributor.committeeMemberRogers, Jonathan
dc.date.updated2021-06-10T16:50:01Z


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